Action planning device having a trajectory generation and determination unit

An action planning device, comprising:

• a failure detection unit that is configured to:
• i) detect an occurrence of a failure in outside-world recognition units, and ii) issue a notification;
• an integration recognition unit that is configured to:
• i) integrate outside-world recognition information output from the outside-world recognition units, and ii) output integration recognition information;
• and
• a trajectory generation/determination unit that is configured to send, to a drive unit, a control instruction to execute an action on the occurrence of the failure, on the basis of the integration recognition information output by the integration recognition unit, wherein
• the trajectory generation/determination unit is configured to send an instruction to take an action that addresses the failure, on the basis of the notification of the failure detection unit,
• the trajectory generation/determination unit is configured to generate a vehicular trajectory that addresses the failure to enter a safe state, based on past outside-world recognition information of moving objects and of stationary objects, and
• the past outside-world recognition information, in which the failure occurs, and a recognition result of a recognition device, in which no failure occurs, are configured to be displayed in such a manner that they are superimposed one over the other.